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<div class="title">sac_model_cone.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CONE_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_SAMPLE_CONSENSUS_MODEL_CONE_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/model_types.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2distances_8h.html">pcl/common/distances.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;limits.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html">   66</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_sample_consensus_model_cone.html">SampleConsensusModelCone</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;PointT&gt;, <span class="keyword">public</span> <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a>&lt;PointT, PointNT&gt;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::model_name_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::radius_min_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::radius_max_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals&lt;PointT, PointNT&gt;::normals_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals&lt;PointT, PointNT&gt;::normal_distance_weight_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::error_sqr_dists_</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">SampleConsensusModel&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::PointCloudPtr PointCloudPtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SampleConsensusModelCone&gt; Ptr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#ae6f64f1feb55f9a0551ece4ec1b4268d">   88</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ae6f64f1feb55f9a0551ece4ec1b4268d">SampleConsensusModelCone</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, <span class="keywordtype">bool</span> random = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (cloud, random)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT&gt; ()</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ac272306a7e35ceaf85e9e17a385a4191">axis_</a> (Eigen::Vector3f::Zero ())</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a6f6d039da5a77dd600c09bd3149adcfe">eps_angle_</a> (0)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a4f97e1f81e6a748bdc17db38ad8411b3">min_angle_</a> (-std::numeric_limits&lt;double&gt;::max ())</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        , max_angle_ (std::numeric_limits&lt;double&gt;::max ())</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#acfbbd529a65a0756da15c08139f43352">tmp_inliers_</a> ()</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelCone&quot;</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 3;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 7;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a745b2c00878984cac19acd8235f792e8">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a745b2c00878984cac19acd8235f792e8">SampleConsensusModelCone</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                                <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                                <span class="keywordtype">bool</span> random = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (cloud, indices, random)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT&gt; ()</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ac272306a7e35ceaf85e9e17a385a4191">axis_</a> (Eigen::Vector3f::Zero ())</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a6f6d039da5a77dd600c09bd3149adcfe">eps_angle_</a> (0)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a4f97e1f81e6a748bdc17db38ad8411b3">min_angle_</a> (-std::numeric_limits&lt;double&gt;::max ())</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        , max_angle_ (std::numeric_limits&lt;double&gt;::max ())</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#acfbbd529a65a0756da15c08139f43352">tmp_inliers_</a> ()</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelCone&quot;</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 3;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 7;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a1396cd124861f6e0db1b8055d8116aff">  126</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a1396cd124861f6e0db1b8055d8116aff">SampleConsensusModelCone</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html">SampleConsensusModelCone</a> &amp;source) :</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (), </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT&gt; (),</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ac272306a7e35ceaf85e9e17a385a4191">axis_</a> (), <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a6f6d039da5a77dd600c09bd3149adcfe">eps_angle_</a> (), <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a4f97e1f81e6a748bdc17db38ad8411b3">min_angle_</a> (), max_angle_ (), <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#acfbbd529a65a0756da15c08139f43352">tmp_inliers_</a> ()</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        *<span class="keyword">this</span> = source;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelCone&quot;</span>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      </div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a96fa51b9c77a67b59058d70bc14e715b">  136</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a96fa51b9c77a67b59058d70bc14e715b">~SampleConsensusModelCone</a> () {}</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html">SampleConsensusModelCone</a>&amp;</div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#ab5895d89e7fa867a234998ccd1fe9296">  142</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ab5895d89e7fa867a234998ccd1fe9296">operator = </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html">SampleConsensusModelCone</a> &amp;source)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::operator=</a>(source);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals&lt;PointT, PointNT&gt;::operator=</a>(source);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ac272306a7e35ceaf85e9e17a385a4191">axis_</a> = source.<a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ac272306a7e35ceaf85e9e17a385a4191">axis_</a>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a6f6d039da5a77dd600c09bd3149adcfe">eps_angle_</a> = source.<a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a6f6d039da5a77dd600c09bd3149adcfe">eps_angle_</a>;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a4f97e1f81e6a748bdc17db38ad8411b3">min_angle_</a> = source.<a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a4f97e1f81e6a748bdc17db38ad8411b3">min_angle_</a>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        max_angle_ = source.max_angle_;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#acfbbd529a65a0756da15c08139f43352">tmp_inliers_</a> = source.<a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#acfbbd529a65a0756da15c08139f43352">tmp_inliers_</a>;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a85b9766429c93d722efaa9c0a27c2272">  158</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a85b9766429c93d722efaa9c0a27c2272">setEpsAngle</a> (<span class="keywordtype">double</span> ea) { <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a6f6d039da5a77dd600c09bd3149adcfe">eps_angle_</a> = ea; }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a934fc97ff58e28a97b11b48e17f1d421">  162</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a934fc97ff58e28a97b11b48e17f1d421">getEpsAngle</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a6f6d039da5a77dd600c09bd3149adcfe">eps_angle_</a>); }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a0fdcb0e717211542ee35fd63eb97ef3f">  168</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a0fdcb0e717211542ee35fd63eb97ef3f">setAxis</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;ax) { <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ac272306a7e35ceaf85e9e17a385a4191">axis_</a> = ax; }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a83284232a4ba1a7299dfa63e8fc8d8e1">  172</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a83284232a4ba1a7299dfa63e8fc8d8e1">getAxis</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ac272306a7e35ceaf85e9e17a385a4191">axis_</a>); }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#aba64fa5732bd374574827cadcf462a24">  180</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#aba64fa5732bd374574827cadcf462a24">setMinMaxOpeningAngle</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;min_angle, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;max_angle)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a4f97e1f81e6a748bdc17db38ad8411b3">min_angle_</a> = min_angle;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        max_angle_ = max_angle;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a8d6978cb71b5d30ceca7c05ba1411b85">  191</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a8d6978cb71b5d30ceca7c05ba1411b85">getMinMaxOpeningAngle</a> (<span class="keywordtype">double</span> &amp;min_angle, <span class="keywordtype">double</span> &amp;max_angle)<span class="keyword"> const</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        min_angle = <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a4f97e1f81e6a748bdc17db38ad8411b3">min_angle_</a>;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        max_angle = max_angle_;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ad502be41f8f80460331c06fb061eaf87">computeModelCoefficients</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;samples, </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                                Eigen::VectorXf &amp;model_coefficients);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a8773a1700c154a4777d213e8c07e7bb1">getDistancesToModel</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients,  </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                           std::vector&lt;double&gt; &amp;distances);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a9abda6d419164b0b6cc0c2661b45f6b2">selectWithinDistance</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">double</span> threshold, </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                            std::vector&lt;int&gt; &amp;inliers);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a8f609a3ce21226534877cc7693c1f2a6">countWithinDistance</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                           <span class="keyword">const</span> <span class="keywordtype">double</span> threshold);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a960fc281aa97d9e05fa69080e72cd800">optimizeModelCoefficients</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;inliers, </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;                                 <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                                 Eigen::VectorXf &amp;optimized_coefficients);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a13952e48f5d8d472485313ea1bc1f865">projectPoints</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;inliers, </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                     <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;projected_points, </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;                     <span class="keywordtype">bool</span> copy_data_fields = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a74697a793857dc25f013f55b0fd2f4ba">doSamplesVerifyModel</a> (<span class="keyword">const</span> std::set&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                            <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">double</span> threshold);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keyword">inline</span> pcl::SacModel </div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a260e9af31c9176edb12f35624fca66f6">  272</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a260e9af31c9176edb12f35624fca66f6">getModelType</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (SACMODEL_CONE); }</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::sample_size_</a>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::model_size_</a>;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a34ff650453e4884cf88d5692ab1bcdda">pointToAxisDistance</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;pt, <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      PCL_DEPRECATED (<span class="stringliteral">&quot;[pcl::SampleConsensusModelCone::getName] getName is deprecated. Please use getClassName instead.&quot;</span>)</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a1b88bea2674333e3f05f8a89291a1d06">  288</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a1b88bea2674333e3f05f8a89291a1d06">getName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a>); }</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a2408f0bf872b6b57cd91f842c0f0b7bb">isModelValid</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a5ec03fd5d8b82ee2d986c2c86e201514">isSampleGood</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;samples) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#ac272306a7e35ceaf85e9e17a385a4191">  306</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#ac272306a7e35ceaf85e9e17a385a4191">axis_</a>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    </div>
<div class="line"><a name="l00309"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a6f6d039da5a77dd600c09bd3149adcfe">  309</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a6f6d039da5a77dd600c09bd3149adcfe">eps_angle_</a>;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#a4f97e1f81e6a748bdc17db38ad8411b3">  312</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#a4f97e1f81e6a748bdc17db38ad8411b3">min_angle_</a>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="keywordtype">double</span> max_angle_;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cone.html#acfbbd529a65a0756da15c08139f43352">  316</a></span>&#160;      <span class="keyword">const</span> std::vector&lt;int&gt; *<a class="code" href="classpcl_1_1_sample_consensus_model_cone.html#acfbbd529a65a0756da15c08139f43352">tmp_inliers_</a>;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="preprocessor">#if defined BUILD_Maintainer &amp;&amp; defined __GNUC__ &amp;&amp; __GNUC__ == 4 &amp;&amp; __GNUC_MINOR__ &gt; 3</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Weffc++&quot;</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html">  322</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html">OptimizationFunctor</a> : <a class="code" href="structpcl_1_1_functor.html">pcl::Functor</a>&lt;float&gt;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      {</div>
<div class="line"><a name="l00329"></a><span class="lineno"><a class="line" href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html#a399c057f905bf49842e6678813fd4dc1">  329</a></span>&#160;        <a class="code" href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html#a399c057f905bf49842e6678813fd4dc1">OptimizationFunctor</a> (<span class="keywordtype">int</span> m_data_points, <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html">pcl::SampleConsensusModelCone&lt;PointT, PointNT&gt;</a> *model) : </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          pcl::<a class="code" href="structpcl_1_1_functor.html">Functor</a>&lt;float&gt; (m_data_points), model_ (model) {}</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html#a786d17a16d7b17e6bc53fe500b57ba5e">  338</a></span>&#160;        <a class="code" href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html#a786d17a16d7b17e6bc53fe500b57ba5e">operator() </a>(<span class="keyword">const</span> Eigen::VectorXf &amp;x, Eigen::VectorXf &amp;fvec)<span class="keyword"> const</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          Eigen::Vector4f apex  (x[0], x[1], x[2], 0);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;          Eigen::Vector4f axis_dir (x[3], x[4], x[5], 0);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          <span class="keywordtype">float</span> opening_angle = x[6];</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;          <span class="keywordtype">float</span> apexdotdir = apex.dot (axis_dir);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;          <span class="keywordtype">float</span> dirdotdir = 1.0f / axis_dir.dot (axis_dir);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="structpcl_1_1_functor.html#a3f516c3ee42e37ab575b0231e0e93547">values</a> (); ++i)</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;          {</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;            <span class="comment">// dist = f - r</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;            Eigen::Vector4f pt (model_-&gt;input_-&gt;points[(*model_-&gt;tmp_inliers_)[i]].x,</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                                model_-&gt;input_-&gt;points[(*model_-&gt;tmp_inliers_)[i]].y,</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                                model_-&gt;input_-&gt;points[(*model_-&gt;tmp_inliers_)[i]].z, 0);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;            <span class="comment">// Calculate the point&#39;s projection on the cone axis</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;            <span class="keywordtype">float</span> k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;            Eigen::Vector4f pt_proj = apex + k * axis_dir;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;            <span class="comment">// Calculate the actual radius of the cone at the level of the projected point</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;            Eigen::Vector4f height = apex-pt_proj;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;            <span class="keywordtype">float</span> actual_cone_radius = tanf (opening_angle) * height.norm ();</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            fvec[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="group__common.html#gad9217ecd4cc14221f178af07a16ef75d">pcl::sqrPointToLineDistance</a> (pt, apex, axis_dir) - actual_cone_radius * actual_cone_radius);</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;          }</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;          <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        }</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_cone.html">pcl::SampleConsensusModelCone&lt;PointT, PointNT&gt;</a> *model_;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      };</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;<span class="preprocessor">#if defined BUILD_Maintainer &amp;&amp; defined __GNUC__ &amp;&amp; __GNUC__ == 4 &amp;&amp; __GNUC_MINOR__ &gt; 3</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;<span class="preprocessor">#pragma GCC diagnostic warning &quot;-Weffc++&quot;</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  };</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;}</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/impl/sac_model_cone.hpp&gt;</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CONE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html">pcl::SampleConsensusModelCone</a></div><div class="ttdoc">SampleConsensusModelCone defines a model for 3D cone segmentation. The model coefficients are defined...</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a0fdcb0e717211542ee35fd63eb97ef3f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a0fdcb0e717211542ee35fd63eb97ef3f">pcl::SampleConsensusModelCone::setAxis</a></div><div class="ttdeci">void setAxis(const Eigen::Vector3f &amp;ax)</div><div class="ttdoc">Set the axis along which we need to search for a cone direction.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a13952e48f5d8d472485313ea1bc1f865"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a13952e48f5d8d472485313ea1bc1f865">pcl::SampleConsensusModelCone::projectPoints</a></div><div class="ttdeci">void projectPoints(const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, PointCloud &amp;projected_points, bool copy_data_fields=true)</div><div class="ttdoc">Create a new point cloud with inliers projected onto the cone model.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.hpp:348</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a1396cd124861f6e0db1b8055d8116aff"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a1396cd124861f6e0db1b8055d8116aff">pcl::SampleConsensusModelCone::SampleConsensusModelCone</a></div><div class="ttdeci">SampleConsensusModelCone(const SampleConsensusModelCone &amp;source)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a1b88bea2674333e3f05f8a89291a1d06"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a1b88bea2674333e3f05f8a89291a1d06">pcl::SampleConsensusModelCone::getName</a></div><div class="ttdeci">std::string getName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:288</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a2408f0bf872b6b57cd91f842c0f0b7bb"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a2408f0bf872b6b57cd91f842c0f0b7bb">pcl::SampleConsensusModelCone::isModelValid</a></div><div class="ttdeci">virtual bool isModelValid(const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether a model is valid given the user constraints.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.hpp:497</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a260e9af31c9176edb12f35624fca66f6"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a260e9af31c9176edb12f35624fca66f6">pcl::SampleConsensusModelCone::getModelType</a></div><div class="ttdeci">pcl::SacModel getModelType() const</div><div class="ttdoc">Return an unique id for this model (SACMODEL_CONE).</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:272</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a34ff650453e4884cf88d5692ab1bcdda"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a34ff650453e4884cf88d5692ab1bcdda">pcl::SampleConsensusModelCone::pointToAxisDistance</a></div><div class="ttdeci">double pointToAxisDistance(const Eigen::Vector4f &amp;pt, const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Get the distance from a point to a line (represented by a point and a direction)</div><div class="ttdef"><b>Definition:</b> sac_model_cone.hpp:487</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a4f97e1f81e6a748bdc17db38ad8411b3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a4f97e1f81e6a748bdc17db38ad8411b3">pcl::SampleConsensusModelCone::min_angle_</a></div><div class="ttdeci">double min_angle_</div><div class="ttdoc">The minimum and maximum allowed opening angles of valid cone model.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:312</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a5ec03fd5d8b82ee2d986c2c86e201514"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a5ec03fd5d8b82ee2d986c2c86e201514">pcl::SampleConsensusModelCone::isSampleGood</a></div><div class="ttdeci">bool isSampleGood(const std::vector&lt; int &gt; &amp;samples) const</div><div class="ttdoc">Check if a sample of indices results in a good sample of points indices. Pure virtual.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a6f6d039da5a77dd600c09bd3149adcfe"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a6f6d039da5a77dd600c09bd3149adcfe">pcl::SampleConsensusModelCone::eps_angle_</a></div><div class="ttdeci">double eps_angle_</div><div class="ttdoc">The maximum allowed difference between the plane normal and the given axis.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:309</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a745b2c00878984cac19acd8235f792e8"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a745b2c00878984cac19acd8235f792e8">pcl::SampleConsensusModelCone::SampleConsensusModelCone</a></div><div class="ttdeci">SampleConsensusModelCone(const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</div><div class="ttdoc">Constructor for base SampleConsensusModelCone.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a74697a793857dc25f013f55b0fd2f4ba"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a74697a793857dc25f013f55b0fd2f4ba">pcl::SampleConsensusModelCone::doSamplesVerifyModel</a></div><div class="ttdeci">bool doSamplesVerifyModel(const std::set&lt; int &gt; &amp;indices, const Eigen::VectorXf &amp;model_coefficients, const double threshold)</div><div class="ttdoc">Verify whether a subset of indices verifies the given cone model coefficients.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.hpp:444</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a83284232a4ba1a7299dfa63e8fc8d8e1"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a83284232a4ba1a7299dfa63e8fc8d8e1">pcl::SampleConsensusModelCone::getAxis</a></div><div class="ttdeci">Eigen::Vector3f getAxis() const</div><div class="ttdoc">Get the axis along which we need to search for a cone direction.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a85b9766429c93d722efaa9c0a27c2272"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a85b9766429c93d722efaa9c0a27c2272">pcl::SampleConsensusModelCone::setEpsAngle</a></div><div class="ttdeci">void setEpsAngle(double ea)</div><div class="ttdoc">Set the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a8773a1700c154a4777d213e8c07e7bb1"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a8773a1700c154a4777d213e8c07e7bb1">pcl::SampleConsensusModelCone::getDistancesToModel</a></div><div class="ttdeci">void getDistancesToModel(const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</div><div class="ttdoc">Compute all distances from the cloud data to a given cone model.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.hpp:137</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a8d6978cb71b5d30ceca7c05ba1411b85"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a8d6978cb71b5d30ceca7c05ba1411b85">pcl::SampleConsensusModelCone::getMinMaxOpeningAngle</a></div><div class="ttdeci">void getMinMaxOpeningAngle(double &amp;min_angle, double &amp;max_angle) const</div><div class="ttdoc">Get the opening angle which we need minimum to validate a cone model.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a8f609a3ce21226534877cc7693c1f2a6"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a8f609a3ce21226534877cc7693c1f2a6">pcl::SampleConsensusModelCone::countWithinDistance</a></div><div class="ttdeci">virtual int countWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold)</div><div class="ttdoc">Count all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.hpp:255</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a934fc97ff58e28a97b11b48e17f1d421"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a934fc97ff58e28a97b11b48e17f1d421">pcl::SampleConsensusModelCone::getEpsAngle</a></div><div class="ttdeci">double getEpsAngle() const</div><div class="ttdoc">Get the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a960fc281aa97d9e05fa69080e72cd800"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a960fc281aa97d9e05fa69080e72cd800">pcl::SampleConsensusModelCone::optimizeModelCoefficients</a></div><div class="ttdeci">void optimizeModelCoefficients(const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, Eigen::VectorXf &amp;optimized_coefficients)</div><div class="ttdoc">Recompute the cone coefficients using the given inlier set and return them to the user.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.hpp:309</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a96fa51b9c77a67b59058d70bc14e715b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a96fa51b9c77a67b59058d70bc14e715b">pcl::SampleConsensusModelCone::~SampleConsensusModelCone</a></div><div class="ttdeci">virtual ~SampleConsensusModelCone()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_a9abda6d419164b0b6cc0c2661b45f6b2"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#a9abda6d419164b0b6cc0c2661b45f6b2">pcl::SampleConsensusModelCone::selectWithinDistance</a></div><div class="ttdeci">void selectWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</div><div class="ttdoc">Select all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_ab5895d89e7fa867a234998ccd1fe9296"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#ab5895d89e7fa867a234998ccd1fe9296">pcl::SampleConsensusModelCone::operator=</a></div><div class="ttdeci">SampleConsensusModelCone &amp; operator=(const SampleConsensusModelCone &amp;source)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_aba64fa5732bd374574827cadcf462a24"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#aba64fa5732bd374574827cadcf462a24">pcl::SampleConsensusModelCone::setMinMaxOpeningAngle</a></div><div class="ttdeci">void setMinMaxOpeningAngle(const double &amp;min_angle, const double &amp;max_angle)</div><div class="ttdoc">Set the minimum and maximum allowable opening angle for a cone model given from a user.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_ac272306a7e35ceaf85e9e17a385a4191"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#ac272306a7e35ceaf85e9e17a385a4191">pcl::SampleConsensusModelCone::axis_</a></div><div class="ttdeci">Eigen::Vector3f axis_</div><div class="ttdoc">The axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:306</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_acfbbd529a65a0756da15c08139f43352"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#acfbbd529a65a0756da15c08139f43352">pcl::SampleConsensusModelCone::tmp_inliers_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_inliers_</div><div class="ttdoc">temporary pointer to a list of given indices for optimizeModelCoefficients ()</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:316</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_ad502be41f8f80460331c06fb061eaf87"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#ad502be41f8f80460331c06fb061eaf87">pcl::SampleConsensusModelCone::computeModelCoefficients</a></div><div class="ttdeci">bool computeModelCoefficients(const std::vector&lt; int &gt; &amp;samples, Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether the given index samples can form a valid cone model, compute the model coefficients fro...</div><div class="ttdef"><b>Definition:</b> sac_model_cone.hpp:55</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cone_html_ae6f64f1feb55f9a0551ece4ec1b4268d"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cone.html#ae6f64f1feb55f9a0551ece4ec1b4268d">pcl::SampleConsensusModelCone::SampleConsensusModelCone</a></div><div class="ttdeci">SampleConsensusModelCone(const PointCloudConstPtr &amp;cloud, bool random=false)</div><div class="ttdoc">Constructor for base SampleConsensusModelCone.</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:88</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_from_normals_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_from_normals.html">pcl::SampleConsensusModelFromNormals</a></div><div class="ttdoc">SampleConsensusModelFromNormals represents the base model class for models that require the use of su...</div><div class="ttdef"><b>Definition:</b> sac_model.h:592</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel</a></div><div class="ttdoc">SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...</div><div class="ttdef"><b>Definition:</b> sac_model.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a64854cad238a0583093c446dc295f245"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">pcl::SampleConsensusModel::sample_size_</a></div><div class="ttdeci">unsigned int sample_size_</div><div class="ttdoc">The size of a sample from which the model is computed. Every subclass should initialize this appropri...</div><div class="ttdef"><b>Definition:</b> sac_model.h:572</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab10fd6af7c7ab78040d4f638a572943f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">pcl::SampleConsensusModel::model_name_</a></div><div class="ttdeci">std::string model_name_</div><div class="ttdoc">The model name.</div><div class="ttdef"><b>Definition:</b> sac_model.h:534</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab7f51bf1c63fcfb05694d0f19c2f7dc3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">pcl::SampleConsensusModel::model_size_</a></div><div class="ttdeci">unsigned int model_size_</div><div class="ttdoc">The number of coefficients in the model. Every subclass should initialize this appropriately.</div><div class="ttdef"><b>Definition:</b> sac_model.h:575</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html">distances.h</a></div></div>
<div class="ttc" id="agroup__common_html_gad9217ecd4cc14221f178af07a16ef75d"><div class="ttname"><a href="group__common.html#gad9217ecd4cc14221f178af07a16ef75d">pcl::sqrPointToLineDistance</a></div><div class="ttdeci">double sqrPointToLineDistance(const Eigen::Vector4f &amp;pt, const Eigen::Vector4f &amp;line_pt, const Eigen::Vector4f &amp;line_dir)</div><div class="ttdoc">Get the square distance from a point to a line (represented by a point and a direction)</div><div class="ttdef"><b>Definition:</b> distances.h:69</div></div>
<div class="ttc" id="astructpcl_1_1_functor_html"><div class="ttname"><a href="structpcl_1_1_functor.html">pcl::Functor</a></div><div class="ttdef"><b>Definition:</b> sac_model.h:654</div></div>
<div class="ttc" id="astructpcl_1_1_functor_html_a3f516c3ee42e37ab575b0231e0e93547"><div class="ttname"><a href="structpcl_1_1_functor.html#a3f516c3ee42e37ab575b0231e0e93547">pcl::Functor&lt; float &gt;::values</a></div><div class="ttdeci">int values() const</div><div class="ttdoc">Get the number of values.</div><div class="ttdef"><b>Definition:</b> sac_model.h:678</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor_html"><div class="ttname"><a href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html">pcl::SampleConsensusModelCone::OptimizationFunctor</a></div><div class="ttdoc">Functor for the optimization function</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:323</div></div>
<div class="ttc" id="astructpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor_html_a399c057f905bf49842e6678813fd4dc1"><div class="ttname"><a href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html#a399c057f905bf49842e6678813fd4dc1">pcl::SampleConsensusModelCone::OptimizationFunctor::OptimizationFunctor</a></div><div class="ttdeci">OptimizationFunctor(int m_data_points, pcl::SampleConsensusModelCone&lt; PointT, PointNT &gt; *model)</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:329</div></div>
<div class="ttc" id="astructpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor_html_a786d17a16d7b17e6bc53fe500b57ba5e"><div class="ttname"><a href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html#a786d17a16d7b17e6bc53fe500b57ba5e">pcl::SampleConsensusModelCone::OptimizationFunctor::operator()</a></div><div class="ttdeci">int operator()(const Eigen::VectorXf &amp;x, Eigen::VectorXf &amp;fvec) const</div><div class="ttdef"><b>Definition:</b> sac_model_cone.h:338</div></div>
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